/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "adc.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

//#include <string.h>
//#include <stdio.h>
//#include <stdlib.h>
//#include "bluetooth.h"
//#include "utils.h"
//#include "FreeRTOS.h"
//#include "task.h"
//#include "timers.h"
#include "NeonEffectTask.h"

#include "CarMovementTask.h"
#include "UltrasonicTask.h"
#include "GlobalVars.h"
#include "BeepTask.h"
#include "SensorDataTask.h"
#include "BluetoothTask.h"
#include "ADCTask.h"
#include "FireSensorTask.h"
#include "CarControlTask.h.wei"

//#include "BluetoothTask.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */


//#define RX_BUFFER_SIZE 100
//uint8_t rxBuffer[RX_BUFFER_SIZE];
//uint8_t rxData;

//#define BT_BUFFER_SIZE 50
//SemaphoreHandle_t xBluetoothSemaphore;
//char bt_buffer[BT_BUFFER_SIZE];
//uint8_t bt_buffer_index = 0;
//int received_count = 0;  // 使用 volatile 确保在中断中的修改可�????????

osThreadId sensorTaskHandle = NULL;
uint32_t m_HeapSize = 0;



/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);

void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */



//void UartEchoTask(void *argument) {
//    uint8_t rxChar;
//    for (;;) {
//        if (HAL_UART_Receive(&huart1, &rxChar, 1, 10) == HAL_OK) {
//            HAL_UART_Transmit(&huart1, &rxChar, 1, HAL_MAX_DELAY);
//        }
//        osDelay(10);
//    }
//}








/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void) {
    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/

			/* Reset of all peripherals, Initializes the Flash interface and the Systick. */    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_DMA_Init();
    MX_TIM3_Init();
    MX_TIM4_Init();
    MX_USART2_UART_Init();
    MX_TIM2_Init();
    MX_ADC1_Init();
    /* USER CODE BEGIN 2 */
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);

    // 初始化CMSIS-RTOS v2内核
    osKernelInitialize();

    // 任务创建
    osThreadNew(NeonEffectTask, NULL, NULL);

    __HAL_AFIO_REMAP_SWJ_NOJTAG();  // 禁用JTAG

    osThreadNew(BluetoothTask, NULL, NULL);
    osThreadNew(UARTReceiveTask, NULL, NULL);

    HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);

    osThreadNew(CarMovementTask, NULL, NULL);

    HC_SR04_Init();

#if LOW_BATTERY_VOLTAGE_MODE
    // 低电压模式下的处�???
#else
    osThreadNew(UltrasonicTask, NULL, NULL);
#endif

    osThreadNew(CarControlTask, NULL, NULL);
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);//关闭风扇
    osThreadNew(BeepTask, NULL, NULL);
    // 创建ADC任务
    osThreadNew(ADCTask, NULL, NULL);
    osThreadNew(FireSensorTask, NULL, NULL);

    // 启动调度�???
    osKernelStart();

    // 永远不会到达这里
    while (1) {
    }
    /* USER CODE END 2 */

    /* Init scheduler */
    osKernelInitialize();  /* Call init function for freertos objects (in freertos.c) */
    MX_FREERTOS_Init();

    /* Start scheduler */
    osKernelStart();

    /* We should never get here as control is now taken by the scheduler */
    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1) {
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
    }
    /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void) {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

    /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }

    /** Initializes the CPU, AHB and APB buses clocks
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
                                  | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
        Error_Handler();
    }
    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
    PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV8;
    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */

// 修改UART接收回调函数
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
//    Bluetooth_UART_RxCpltCallback(huart);
//}

//void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
//    if (huart->Instance == USART2) {
//        uart_tx_complete = 1;
//    }
//}


/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM1 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
    /* USER CODE BEGIN Callback 0 */

    /* USER CODE END Callback 0 */
    if (htim->Instance == TIM1) {
        HAL_IncTick();
    }
    /* USER CODE BEGIN Callback 1 */
    if (htim->Instance == TIM2) {
        Y_Out_Counter++;  // 溢出计数自增
    }
    /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void) {
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1) {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
